diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp index 99b705fdccdaf..91b7c0dcd1c65 100644 --- a/libraries/AP_GPS/AP_GPS.cpp +++ b/libraries/AP_GPS/AP_GPS.cpp @@ -1987,6 +1987,155 @@ bool AP_GPS::gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg, return true; } +/* + * Old parameter metadata. Until we have versioned parameters, keeping + * old parameters around for a while can help with an adjustment + * period. + */ + + // @Param: _TYPE + // @DisplayName: 1st GPS type + // @Description: GPS type of 1st GPS + // @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:DroneCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:DroneCAN-MovingBaseline-Base,23:DroneCAN-MovingBaseline-Rover,24:UnicoreNMEA,25:UnicoreMovingBaselineNMEA,26:SBF-DualAntenna + // @RebootRequired: True + // @User: Advanced + + // @Param: _TYPE2 + // @CopyFieldsFrom: GPS_TYPE + // @DisplayName: 2nd GPS type + // @Description: GPS type of 2nd GPS + + // @Param: _GNSS_MODE + // @DisplayName: GNSS system configuration + // @Description: Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured) + // @Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + // @User: Advanced + + // @Param: _GNSS_MODE2 + // @DisplayName: GNSS system configuration + // @Description: Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured) + // @Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + // @User: Advanced + + // @Param: _RATE_MS + // @DisplayName: GPS update rate in milliseconds + // @Description: Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + // @Units: ms + // @Values: 100:10Hz,125:8Hz,200:5Hz + // @Range: 50 200 + // @User: Advanced + + // @Param: _RATE_MS2 + // @DisplayName: GPS 2 update rate in milliseconds + // @Description: Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + // @Units: ms + // @Values: 100:10Hz,125:8Hz,200:5Hz + // @Range: 50 200 + // @User: Advanced + + // @Param: _POS1_X + // @DisplayName: Antenna X position offset + // @Description: X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + // @Units: m + // @Range: -5 5 + // @Increment: 0.01 + // @User: Advanced + + // @Param: _POS1_Y + // @DisplayName: Antenna Y position offset + // @Description: Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + // @Units: m + // @Range: -5 5 + // @Increment: 0.01 + // @User: Advanced + + // @Param: _POS1_Z + // @DisplayName: Antenna Z position offset + // @Description: Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + // @Units: m + // @Range: -5 5 + // @Increment: 0.01 + // @User: Advanced + + // @Param: _POS2_X + // @DisplayName: Antenna X position offset + // @Description: X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + // @Units: m + // @Range: -5 5 + // @Increment: 0.01 + // @User: Advanced + + // @Param: _POS2_Y + // @DisplayName: Antenna Y position offset + // @Description: Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + // @Units: m + // @Range: -5 5 + // @Increment: 0.01 + // @User: Advanced + + // @Param: _POS2_Z + // @DisplayName: Antenna Z position offset + // @Description: Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + // @Units: m + // @Range: -5 5 + // @Increment: 0.01 + // @User: Advanced + + // @Param: _DELAY_MS + // @DisplayName: GPS delay in milliseconds + // @Description: Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + // @Units: ms + // @Range: 0 250 + // @User: Advanced + // @RebootRequired: True + + // @Param: _DELAY_MS2 + // @DisplayName: GPS 2 delay in milliseconds + // @Description: Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + // @Units: ms + // @Range: 0 250 + // @User: Advanced + // @RebootRequired: True + + // @Param: _COM_PORT + // @DisplayName: GPS physical COM port + // @Description: The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + // @Range: 0 10 + // @Increment: 1 + // @User: Advanced + // @Values: 0:COM1(RS232) on GSOF, 1:COM2(TTL) on GSOF + // @RebootRequired: True + + // @Param: _COM_PORT2 + // @DisplayName: GPS physical COM port + // @Description: The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + // @Range: 0 10 + // @Increment: 1 + // @User: Advanced + // @RebootRequired: True + + // @Group: _MB1_ + // @Path: MovingBase.cpp + + // @Group: _MB2_ + // @Path: MovingBase.cpp + + // @Param: _CAN_NODEID1 + // @DisplayName: GPS Node ID 1 + // @Description: GPS Node id for first-discovered GPS. + // @ReadOnly: True + // @User: Advanced + + // @Param: _CAN_NODEID2 + // @DisplayName: GPS Node ID 2 + // @Description: GPS Node id for second-discovered GPS. + // @ReadOnly: True + // @User: Advanced + +/* + * end old parameter metadata + */ + namespace AP { AP_GPS &gps()